Retriever: Composing Closed-Loop Asynchronous Robot Programs
Retriever is a new framework for building long-horizon robot agents, spanning an asynchronous decision model, programming model, runtime, and a sample closed-loop agent pipeline. It represents agents as graphs of stateful causal stream functions executed on explicit run clocks, which enables systematic debugging and deterministic replay. The system is evaluated through a real-robot case study and controlled studies of runtime overhead and replay behavior.
Why it matters: Retriever offers a unified solution for composing closed-loop robot systems with components running at different clocks and variable latency, improving reproducibility, debugging, and reuse.
Full story at: arXiv Robotics ↗